CN104691544A - Full-automatic parking system and parking method thereof - Google Patents
Full-automatic parking system and parking method thereof Download PDFInfo
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- CN104691544A CN104691544A CN201510156812.XA CN201510156812A CN104691544A CN 104691544 A CN104691544 A CN 104691544A CN 201510156812 A CN201510156812 A CN 201510156812A CN 104691544 A CN104691544 A CN 104691544A
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- 239000002131 composite material Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The invention provides a full-automatic parking system. The full-automatic parking system comprises a processing module, a parking button, an automobile taking button, a steering subsystem, a braking subsystem, an engine subsystem and an automobile combined detection sensor. When a processing chip detects that the parking button or the automobile taking button is pressed, an automobile is controlled to enter a garage or exit from the garage according to a garage entering path or a path of coming out of the garage. Automobile parking place automatic detection, automatic steering, automatic driving and automatic braking parking are integrated, the function of automatically entering the garage or coming out of the garage for the automobile can be achieved as long as a driver presses an automobile key nearby the automobile or the parking button or the automobile taking button on a mobile phone APP, manual control is not needed for the driver, and therefore operation is convenient. In addition, according to a parking method of the full-automatic parking system, for different target parking places, corresponding paths of entering the garage or coming out of the garage can be selected so that the automobile can enter or come out of the garage, using is convenient, the paths of entering or coming out of the garage are planned based on coordinates, automobile parking is set right, and accuracy is better.
Description
Technical field
The present invention relates to intelligent car field, particularly relate to full automaticity parking system and method for parking thereof.
Background technology
For many chaufeurs, parking is a kind of experience of misery.Particularly big city parking space is limited, and automobile being sailed into narrow space has become a required skill, and when parking space is narrow and small, chaufeur does not often take some twists and turns and is all difficult to stop car.And if automobile does not stop, traffic tie-up and bumper/spoiler also may be caused to be hit the problems such as curved.Therefore, in order to solve the problems such as chaufeur parking difficulty, prior art proposes semiautomatic parking technology, rely on ultrasonic transduter or camera perception environmental information, processing module obtains best parking path according to the environmental information of periphery, and control steering swivel system and rotate accordingly, chaufeur only to need in the process of parking, to certain throttle and gear, automobile to be advanced or retreats just automobile to be stopped in parking stall.
Although this semiautomatic parking technology solves the problem of chaufeur parking difficulty in a certain sense, chaufeur in process of parking, is still needed to control throttle and gear, troublesome poeration.And prior art does not also need chaufeur manual drive automobile, realize full automaticity and to park the automated parking system of function.
Summary of the invention
For above-mentioned deficiency, the object of the present invention is to provide a kind of full automaticity parking system not needing chaufeur manual drive automobile, not needing chaufeur manual drive automobile for solving the shortage existed in prior art, realizing full automaticity and to park the defect of automated parking system of function.
Another object of the present invention is also the method for parking providing above-mentioned full automaticity parking system.
For achieving the above object, the present invention takes following technical scheme:
Full automaticity parking system, comprises processing module, key of parking, and key of picking up the car, turns to subsystem, brake subsystem, engine subsystems and automobile complex probe sensor; Park key for manually pressing for chaufeur; Key of picking up the car is arranged on automobile key or mobile phone application software, for manually pressing for chaufeur; Processing module comprises process chip and path planning module; Path planning module is for storing warehouse-in path and the outbound path of automobile; Process chip is used for when detecting that park key or key of picking up the car are pressed, according to warehouse-in path or the outbound path of path planning module, control command is sent to turning to subsystem, brake subsystem or engine subsystems, control turns to subsystem to carry out turning to, brake subsystem starts or engine subsystems starts, and makes automobile can carry out putting in storage or outbound according to warehouse-in path or outbound path; Turn to subsystem for the rotation direction of the control command adjustment wheel according to process chip; Brake subsystem is used for starting according to the control command of process chip braking; Engine subsystems is used for starting as automobile provides power according to the control command of process chip; Automobile complex probe sensor, for detecting the distance of obstacle or automobile and parking stall.
Further, described automobile complex probe sensor comprises 4 composite radar sensors installed near automobile 4 tires, and multiple ultrasonic transduter be separately fixed on automobile front protecting danger bar and rear bumper arm.
As the method for parking of above-mentioned full automaticity parking system, when key of parking is pressed, automatically put flow startup in storage, process chip performs following steps:
1) process chip controls the engine subsystems startup of automobile, and automobile normal running, finds target parking stall; When automobile complex probe sensor detects target parking stall, process chip controls brake subsystem and starts, and engine subsystems stops, and automobile stops travelling, and performs step 2;
2) width of target parking stall that detects according to automobile complex probe sensor of process chip, judges whether the width of target parking stall meets the width requirement of automobile, if do not met, returns step 1; If met, perform step 3;
3) position of target parking stall that detects according to automobile complex probe sensor of process chip, path is put in storage accordingly in acquisition approach planning module, control brake subsystem stops, engine subsystems starts, the warehouse-in position of specifying in running car to warehouse-in path, control to turn to subsystem to turn to according to warehouse-in path simultaneously, perform in-stockroom operation;
4) in in-stockroom operation process, when automobile complex probe sensor detect have an obstacle in warehouse-in path time, process chip controls brake subsystem and starts, engine subsystems stops, and start timing, automobile complex probe sensor continues to detect obstacle, until when process chip timing time reaches the default obstacle time, performs step 5;
5) process chip judges whether the obstacle that automobile complex probe sensor detects disappears; If so, step 6 is performed; Otherwise, exit and automatically put flow process in storage;
6) process chip controls brake subsystem stopping, and engine subsystems starts, and continues to perform in-stockroom operation, until when automobile stops into target parking stall, complete and automatically put flow process in storage.
Further, the warehouse-in path of described path planning module comprises warehouse-in path, orientation, left side, right lateral aspect warehouse-in path, left vertical orientations warehouse-in path and right vertical orientations warehouse-in path.
Further, when described process chip performs in-stockroom operation according to warehouse-in path, orientation, described left side, comprise the following steps: wherein X1 is automobile total travel route component in the X direction in warehouse-in path, orientation, left side, Y1 is automobile total travel route component in the Y direction in warehouse-in path, orientation, left side;
1) process chip by turn to subsystem controls tire left-handed turning to, control engine subsystems start, the arc length component in the X direction of running car is 1/3*X1, and component is in the Y direction 1/3*Y1, perform step 2;
2) process chip travels by turning to subsystem controls tire to go back to positive dirction, and the arc length component in the X direction of running car is 1/3*X1, and component is in the Y direction 1/3*Y1, performs step 3;
3) process chip is by turning to subsystem controls tire Turning travel to the right, and the arc length component in the X direction of running car is 1/3*X1, and component is in the Y direction 1/3*Y1, performs step 4;
4) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
Further, when described process chip performs in-stockroom operation according to described right lateral aspect warehouse-in path, comprise the following steps: wherein X2 is automobile total travel route component in the X direction in right lateral aspect warehouse-in path, Y2 is automobile total travel route component in the Y direction in right lateral aspect warehouse-in path;
1) process chip by turn to subsystem controls tire right-hand turning to, control engine subsystems start, the arc length component met in the X direction of running car is 1/3*X2, and component is in the Y direction 1/3*Y2, perform step 2;
2) process chip travels by turning to subsystem controls tire to go back to positive dirction, and the arc length component met in the X direction of running car is 1/3*X2, and component is in the Y direction 1/3*Y2, performs step 3;
3) process chip is by turning to subsystem controls tire Turning travel left, and the arc length component met in the X direction of running car is 1/3*X2, and component is in the Y direction 1/3*Y2, performs step 4;
4) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
Further, when described process chip performs in-stockroom operation according to described left vertical orientations warehouse-in path, comprise the following steps: wherein X3 is automobile total travel route component in the X direction in left vertical orientations warehouse-in path, Y3 is automobile total travel route component in the Y direction in left vertical orientations warehouse-in path;
1) process chip by turn to subsystem controls tire left-handed turning to, control engine subsystems start, the horizontal throw of running car is 1/2* X3, perform step 2;
2) process chip continues through and turns to subsystem controls tire Turning travel left, and the arc length component met in the X direction of running car is 1/2*X3, and component is in the Y direction 1/2*Y3, performs step 3;
3) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
Further, when described process chip performs in-stockroom operation according to described right vertical orientations warehouse-in path, comprise the following steps: wherein X4 is automobile total travel route component in the X direction in right vertical orientations warehouse-in path, Y4 is automobile total travel route component in the Y direction in right vertical orientations warehouse-in path;
1) process chip by turn to subsystem controls tire right-hand turning to, control engine subsystems start, the horizontal throw of running car is 1/2* X4, perform step 2;
2) process chip continues through and turns to subsystem controls tire Turning travel to the right, and the arc length component met in the X direction of running car is 1/2*X4, and component is in the Y direction 1/2*Y4, performs step 3;
3) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
Further, when process chip detects that key of picking up the car is pressed, process chip obtains the data message of automobile complex probe sensor, and obtain corresponding outbound path in the planning module of footpath according to this data message, control engine subsystems starts, and turns to subsystem to carry out turning to according to parking path outbound.
Compared to existing technology, the present invention has following beneficial effect:
Full automaticity parking system provided by the invention, be integrated with parking stall automatic detection, auto-steering, automatic running, autobrake parking is integrated, only need chaufeur pin near car on car key park key or pick up the car key time, just can realize automobile and automatically put in storage or the function of outbound, do not need chaufeur manual drive automobile, easy to operate.
The method of parking of full automaticity parking system provided by the invention, the size of target parking stall can be detected, for different target parking stalls, warehouse-in path or outbound path accordingly can be chosen carry out putting in storage or outbound, can also stop in time in bursty state (there is obstacle in path to warehouse-in) simultaneously.Easy to use, and warehouse-in path and outbound path are the path plannings based on coordinate, car stops than calibration, and accuracy is better.
accompanying drawing illustrates:
Fig. 1 is the system chart of full automaticity parking system.
Fig. 2 be full automaticity parking system park in method, diagram of circuit when key of parking is pressed.
Fig. 3 is the schematic diagram in the right lateral aspect warehouse-in path of embodiment 2.
Fig. 4 is the schematic diagram in the right vertical orientations warehouse-in path of embodiment 4.
detailed description of the invention:
Full automaticity parking system, as shown in Figure 1, comprises processing module, key of parking, and key of picking up the car, turns to subsystem, brake subsystem, engine subsystems and automobile complex probe sensor; Park key for manually pressing for chaufeur; Key of picking up the car is arranged on automobile key and mobile phone application software, for manually pressing for chaufeur; Processing module comprises process chip and path planning module; Path planning module is for storing warehouse-in path and the outbound path of automobile; Process chip is used for when detecting that park key or key of picking up the car are pressed, according to warehouse-in path or the outbound path of path planning module, control command is sent to turning to subsystem, brake subsystem or engine subsystems, control turns to subsystem to carry out turning to, brake subsystem starts or engine subsystems starts, and makes automobile can carry out putting in storage or outbound according to warehouse-in path or outbound path; Turn to subsystem for the rotation direction of the control command adjustment wheel according to process chip; Brake subsystem is used for starting according to the control command of process chip braking; Engine subsystems is used for starting as automobile provides power according to the control command of process chip; Automobile complex probe sensor, for detecting the distance of obstacle or automobile and parking stall.
During concrete enforcement, key of picking up the car comprises pick up the car key and simulation of entity and to pick up the car key, and entity key of picking up the car is arranged on automobile key, and simulation key of picking up the car is analogue-key, is arranged on mobile phone application software.Automobile complex probe sensor, comprises sonac, laser sensor, and infradred sensor and camera vision sensor, adopt ultrasonic, laser, infrared ray, the distance of the technology for detection obstacles such as shooting or automobile and parking stall.
When chaufeur is wanted to stop warehouse-in, near driver automobile to parking stall, press key of parking, get off, processing module will control to turn to subsystem to carry out turning to, brake subsystem starts or engine subsystems starts, and automobile can be put in storage according to warehouse-in path.When chaufeur is wanted to pick up the car outbound, chaufeur is gone near automobile, press the key of picking up the car on automobile key, processing module will control to turn to subsystem to carry out turning to, brake subsystem starts or engine subsystems starts, and makes automobile can carry out outbound according to outbound path.This full automaticity parking system is integrated with parking stall automatic detection, auto-steering, automatic running, autobrake parking is integrated, only need chaufeur pin near car on car key park key or pick up the car key time, just can realize automobile automatically to put in storage or the function of outbound, not need chaufeur Non-follow control, easy to operate.Chaufeur also in car, oneself can control brake and gear realizes semiautomatic parking; Automobile can driverless operation be automatically found can moor into parking stall, automatically moor into and outbound.
Described automobile complex probe sensor comprises 4 composite radar sensors installed near automobile 4 tires, and multiple ultrasonic transduter be separately fixed on automobile front protecting danger bar and rear bumper arm.
During concrete enforcement, 4 ultrasonic transduters can be installed on automobile front/rear collision bumper respectively.Automobile complex probe sensor can send ultrasonic signal, can reflect when ultrasonic signal encounters the obstacle of vehicle body periphery, and process chip just can arrive the distance of obstacle by measured automobiles complex probe sensor.Whether the composite radar sensor be arranged near tire has obstacle for detecting automobile side periphery.In addition, the waveform sent due to composite radar sensor is fan-shaped, and its scope that can detect is larger, therefore can also be used for the width detecting target parking stall.Be arranged on ultrasonic transduter on the safety lever of front and back for detecting automotive front end and whether rear end periphery has obstacle.Such automobile complex probe sensor just can detect the ambient conditions of automobile surrounding, and it is more accurate to detect.
The method of parking of above-mentioned full automaticity parking system, as shown in Figure 2, when key of parking is pressed, puts flow startup in storage automatically, and process chip performs following steps:
1) process chip controls the engine subsystems startup of automobile, and automobile normal running, finds target parking stall; When automobile complex probe sensor detects target parking stall, process chip controls brake subsystem and starts, and engine subsystems stops, and automobile stops travelling, and performs step 2;
2) width of target parking stall that detects according to automobile complex probe sensor of process chip, judges whether the width of target parking stall meets the width requirement of automobile, if do not met, returns step 1; If met, perform step 3;
3) position of target parking stall that detects according to automobile complex probe sensor of process chip, path is put in storage accordingly in acquisition approach planning module, control brake subsystem stops, engine subsystems starts, the warehouse-in position of specifying in running car to warehouse-in path, control to turn to subsystem to turn to according to warehouse-in path simultaneously, perform in-stockroom operation;
4) in in-stockroom operation process, when automobile complex probe sensor detect have an obstacle in warehouse-in path time, process chip controls brake subsystem and starts, engine subsystems stops, and start timing, automobile complex probe sensor continues to detect obstacle, until when process chip timing time reaches the default obstacle time, performs step 5;
5) process chip judges whether the obstacle that automobile complex probe sensor detects disappears; If so, step 6 is performed; Otherwise, exit and automatically put flow process in storage;
6) process chip controls brake subsystem stopping, and engine subsystems starts, and continues to perform in-stockroom operation, until when automobile stops into target parking stall, complete and automatically put flow process in storage.
During concrete enforcement, this method of parking can also change safety control pattern into, and namely only have when chaufeur pins key of parking near car, automobile could normally be parked, if run into emergency situation, as long as unclamp button, automobile automatic brake, stops parking.Strengthen the safety that driverless operation is parked.
Process chip, when judging whether the width of target parking stall meets the width requirement of automobile, according to the size of parking stall, plans that a point single or multiple moves storehouse and parks automatically.This method of parking can detect the size of target parking stall, for different target parking stalls, can choose warehouse-in path or outbound path accordingly and carry out putting in storage or outbound, can also stop in time in bursty state (there is obstacle in path to warehouse-in) simultaneously.Easy to use, and warehouse-in path and outbound path are the path plannings based on coordinate, car stops than calibration, and accuracy is better.And when performing in-stockroom operation, chaufeur can according to the position of actual conditions correction parking stall; Automobile stops into shorter parking stall by repeatedly rubbing storehouse; Automobile can be exercised forward under unpiloted state automatically, find can moor into parking stall.
When process chip detects that key of picking up the car is pressed, process chip obtains the data message of automobile complex probe sensor, and obtain corresponding outbound path in the planning module of footpath according to this data message, control engine subsystems and start, turn to subsystem to carry out turning to according to parking path outbound.During concrete enforcement, when picking up the car, automobile complex probe sensor can also detect the environment of peripheral vehicle, only when peripheral vehicle does not have obstacle, just starts automatic withdrawing flow process.Or whether having obstacle by driver certifying outbound path, only having when not having obstacle, chaufeur just presses the key of picking up the car on automobile key.
The warehouse-in path of described path planning module comprises warehouse-in path, orientation, left side, right lateral aspect warehouse-in path, left vertical orientations warehouse-in path and right vertical orientations warehouse-in path.
Side coil warehouse entering trolley, generally occurs in other temporarily the parking of road, and parallel parking stall automobile being parked in limited length that this method of parking can be safe within the shortest time, reduces traffic accident and occur, and slow down traffic pressure.When needs roll parking stall away from, when driving to leave, only need press part of picking up the car, automobile will roll parking stall away from automatically.
Be described in further detail below in conjunction with the construction method of the drawings and specific embodiments to above-mentioned high-effect microbiological fuel cell provided by the invention.In following examples, X-direction refers to the Width of parking stall, and Y-direction refers to the depth direction of parking stall.
Embodiment 1:
When described process chip performs in-stockroom operation according to warehouse-in path, orientation, described left side, comprise the following steps: wherein X1 is automobile total travel route component in the X direction in warehouse-in path, orientation, left side, Y1 is automobile total travel route component in the Y direction in warehouse-in path, orientation, left side;
1) process chip by turn to subsystem controls tire left-handed turning to, control engine subsystems start, the arc length component in the X direction of running car is 1/3*X1, and component is in the Y direction 1/3*Y1, perform step 2;
2) process chip travels by turning to subsystem controls tire to go back to positive dirction, and the arc length component in the X direction of running car is 1/3*X1, and component is in the Y direction 1/3*Y1, performs step 3;
3) process chip is by turning to subsystem controls tire Turning travel to the right, and the arc length component in the X direction of running car is 1/3*X1, and component is in the Y direction 1/3*Y1, performs step 4;
4) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
During concrete enforcement, process chip by turn to subsystem controls tire left or right steering time, when tire can be made direction according to bearing circle to left or right, tyre rotation state arrange, can ensure that automobile drives to position within the shortest time like this.
Embodiment 2:
As shown in Figure 3, when described process chip performs in-stockroom operation according to described right lateral aspect warehouse-in path, comprise the following steps: wherein X2 is automobile total travel route component in the X direction in right lateral aspect warehouse-in path, Y2 is automobile total travel route component in the Y direction in right lateral aspect warehouse-in path;
1) process chip by turn to subsystem controls tire right-hand turning to, control engine subsystems and start, the component that the arc length (arc length A2B2) of running car meets in the X direction is 1/3*X2, and component is in the Y direction 1/3*Y2, performs step 2;
2) process chip travels by turning to subsystem controls tire to go back to positive dirction, and the component that the arc length (arc length B2C2) of running car meets in the X direction is 1/3*X2, and component is in the Y direction 1/3*Y2, performs step 3;
3) process chip is by turning to subsystem controls tire Turning travel left, and the component that the arc length (arc length C2D2) of running car meets in the X direction is 1/3*X2, and component is in the Y direction 1/3*Y2, performs step 4;
4) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
Right lateral aspect warehouse-in path theory is as follows:
In X-direction (transverse direction), X
a2B2+ X
b2C2+ X
c2D2=X2;
In the Y direction (longitudinal direction), Y
a2B2+ Y
b2C2+ Y
c2D2=Y2;
Wherein, X
a2B2for arc length A2B2 component in the X direction, X
b2C2for arc length B2C2 component in the X direction, X
c2D2for arc length C2D2 component in the X direction, Y
a2B2for arc length A2B2 component in the Y direction, Y
b2C2for arc length B2C2 component in the Y direction, Y
c2D2for arc length C2D2 component in the Y direction.
Order: X
a2B2=X
b2C2=X
c2D2; Y
a2B2=Y
b2C2=Y
c2D2;
: X
a2B2=X
b2C2=X
c2D2=1/3* X2; Y
a2B2=Y
b2C2=Y
c2D2=1/3*Y2
As running car distance component≤X2 in the X direction, first time turns to;
As running car distance component>=X in the X direction
a2B2, Hui Zheng;
As running car distance component>=X in the X direction
a2B2+ X
b2C2, second time turns to;
As running car distance component>=X in the X direction
a2B2+ X
b2C2+ X
c2D2, adjustment.
In side coil warehouse-in path planning, the pool be made up of three sections of circular arcs enters path, and it is more accurate to moor into final position, can moor into less parking stall.This parking path is adopted to park, linear section in parking can carry out path rectification, even if due to understeer, the speed of a motor vehicle is too fast, or the correct path that the reasons such as tyre pressure is not enough cause automobile to depart from parking, car amount can be carried out path correction by this paths planning method, car is parked in the middle of parking stall, reaches and park accurately.
Embodiment 3:
When described process chip performs in-stockroom operation according to described left vertical orientations warehouse-in path, comprise the following steps: wherein X3 is automobile total travel route component in the X direction in left vertical orientations warehouse-in path, Y3 is automobile total travel route component in the Y direction in left vertical orientations warehouse-in path;
1) process chip by turn to subsystem controls tire left-handed turning to, control engine subsystems start, the horizontal throw of running car is 1/2* X3, perform step 2;
2) process chip continues through and turns to subsystem controls tire Turning travel left, and the arc length component met in the X direction of running car is 1/2*X3, and component is in the Y direction 1/2*Y3, performs step 3;
3) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
Embodiment 4:
As shown in Figure 4, when described process chip performs in-stockroom operation according to described right vertical orientations warehouse-in path, comprise the following steps: wherein X4 is automobile total travel route component in the X direction in right vertical orientations warehouse-in path, Y4 is automobile total travel route component in the Y direction in right vertical orientations warehouse-in path;
1) process chip by turn to subsystem controls tire right-hand turning to, control engine subsystems start, the horizontal throw (straight line A4B4) of running car is 1/2* X4, perform step 2;
2) process chip continues through and turns to subsystem controls tire Turning travel to the right, and the component that the arc length (arc length B4C4) of running car meets in the X direction is 1/2*X4, and component is in the Y direction 1/2*Y4, performs step 3;
3) process chip travels by turning to subsystem controls tire to go back to positive dirction, and operating range is straight line C4D4, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
Right vertical orientations warehouse-in path theory is as follows:
In X-direction (transverse direction), X
a4B4+ X
b4C4+ X
c4D4=X4, X
c4D4=0;
In the Y direction (longitudinal direction), Y
a4B4+ Y
b4C4+ Y
c4D4=Y4, Y
a4B4=0;
Wherein, X
a4B4for arc length A4B4 component in the X direction, X
b4C4for arc length B4C4 component in the X direction, X
c4D4for arc length C4D4 component in the X direction, Y
a4B4for arc length A4B4 component in the Y direction, Y
b4C4for arc length B4C4 component in the Y direction, Y
c4D4for arc length C4D4 component in the Y direction.
Order: X
a4B4=X
b4C4; Y
b4C4=Y
c4D4;
: X
a4B4=X
b4C4=1/2 * X4; Y
b4C4=Y
c4D4=1/2*Y4;
As running car distance component>=X in the X direction
a4B4, first time turns to;
As running car distance component>=X in the X direction
a4B4+ X
b4C4, Hui Zheng;
As running car distance component>=Y in the Y direction
a4B4+ Y
b4C4+ Y
c4D4, stop.
Park warehouse-in path in method and outbound path is path planning based on coordinate, and car stops than calibration, and accuracy is better.Stepwise calibration.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (9)
1. full automaticity parking system, is characterized in that, comprises processing module, key of parking, and key of picking up the car, turns to subsystem, brake subsystem, engine subsystems and automobile complex probe sensor; Park key for manually pressing for chaufeur; Key of picking up the car is arranged on automobile key or mobile phone application software, for manually pressing for chaufeur; Processing module comprises process chip and path planning module; Path planning module is for storing warehouse-in path and the outbound path of automobile; Process chip is used for when detecting that park key or key of picking up the car are pressed, according to warehouse-in path or the outbound path of path planning module, control command is sent to turning to subsystem, brake subsystem or engine subsystems, control turns to subsystem to carry out turning to, brake subsystem starts or engine subsystems starts, and makes automobile can carry out putting in storage or outbound according to warehouse-in path or outbound path; Turn to subsystem for the rotation direction of the control command adjustment wheel according to process chip; Brake subsystem is used for starting according to the control command of process chip braking; Engine subsystems is used for starting as automobile provides power according to the control command of process chip; Automobile complex probe sensor, for detecting the distance of obstacle or automobile and parking stall.
2. full automaticity parking system as claimed in claim 1, it is characterized in that, described automobile complex probe sensor comprises 4 composite radar sensors installed near automobile 4 tires, and multiple ultrasonic transduter be separately fixed on automobile front protecting danger bar and rear bumper arm.
3. the method for parking of full automaticity parking system as claimed in claim 1, is characterized in that, when key of parking is pressed, automatically put flow startup in storage, and process chip performs following steps:
1) process chip controls the engine subsystems startup of automobile, and automobile normal running, finds target parking stall; When automobile complex probe sensor detects target parking stall, process chip controls brake subsystem and starts, and engine subsystems stops, and automobile stops travelling, and performs step 2;
2) width of target parking stall that detects according to automobile complex probe sensor of process chip, judges whether the width of target parking stall meets the width requirement of automobile, if do not met, returns step 1; If met, perform step 3;
3) position of target parking stall that detects according to automobile complex probe sensor of process chip, path is put in storage accordingly in acquisition approach planning module, control brake subsystem stops, engine subsystems starts, the warehouse-in position of specifying in running car to warehouse-in path, control to turn to subsystem to turn to according to warehouse-in path simultaneously, perform in-stockroom operation;
4) in in-stockroom operation process, when automobile complex probe sensor detect have an obstacle in warehouse-in path time, process chip controls brake subsystem and starts, engine subsystems stops, and start timing, automobile complex probe sensor continues to detect obstacle, until when process chip timing time reaches the default obstacle time, performs step 5;
5) process chip judges whether the obstacle that automobile complex probe sensor detects disappears; If so, step 6 is performed; Otherwise, exit and automatically put flow process in storage;
6) process chip controls brake subsystem stopping, and engine subsystems starts, and continues to perform in-stockroom operation, until when automobile stops into target parking stall, complete and automatically put flow process in storage.
4. the method for parking of full automaticity parking system as claimed in claim 3, is characterized in that, the warehouse-in path of described path planning module comprises warehouse-in path, orientation, left side, right lateral aspect warehouse-in path, left vertical orientations warehouse-in path and right vertical orientations warehouse-in path.
5. the method for parking of full automaticity parking system as claimed in claim 4, it is characterized in that, when described process chip performs in-stockroom operation according to warehouse-in path, orientation, described left side, comprise the following steps: wherein X1 is automobile total travel route component in the X direction in warehouse-in path, orientation, left side, Y1 is automobile total travel route component in the Y direction in warehouse-in path, orientation, left side;
1) process chip by turn to subsystem controls tire left-handed turning to, control engine subsystems start, the arc length component in the X direction of running car is 1/3*X1, and component is in the Y direction 1/3*Y1, perform step 2;
2) process chip travels by turning to subsystem controls tire to go back to positive dirction, and the arc length component in the X direction of running car is 1/3*X1, and component is in the Y direction 1/3*Y1, performs step 3;
3) process chip is by turning to subsystem controls tire Turning travel to the right, and the arc length component in the X direction of running car is 1/3*X1, and component is in the Y direction 1/3*Y1, performs step 4;
4) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
6. the method for parking of full automaticity parking system as claimed in claim 4, it is characterized in that, when described process chip performs in-stockroom operation according to described right lateral aspect warehouse-in path, comprise the following steps: wherein X2 is automobile total travel route component in the X direction in right lateral aspect warehouse-in path, Y2 is automobile total travel route component in the Y direction in right lateral aspect warehouse-in path;
1) process chip by turn to subsystem controls tire right-hand turning to, control engine subsystems start, the arc length component met in the X direction of running car is 1/3*X2, and component is in the Y direction 1/3*Y2, perform step 2;
2) process chip travels by turning to subsystem controls tire to go back to positive dirction, and the arc length component met in the X direction of running car is 1/3*X2, and component is in the Y direction 1/3*Y2, performs step 3;
3) process chip is by turning to subsystem controls tire Turning travel left, and the arc length component met in the X direction of running car is 1/3*X2, and component is in the Y direction 1/3*Y2, performs step 4;
4) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
7. the method for parking of full automaticity parking system as claimed in claim 4, it is characterized in that, when described process chip performs in-stockroom operation according to described left vertical orientations warehouse-in path, comprise the following steps: wherein X3 is automobile total travel route component in the X direction in left vertical orientations warehouse-in path, Y3 is automobile total travel route component in the Y direction in left vertical orientations warehouse-in path;
1) process chip by turn to subsystem controls tire left-handed turning to, control engine subsystems start, the horizontal throw of running car is 1/2* X3, perform step 2;
2) process chip continues through and turns to subsystem controls tire Turning travel left, and the arc length component met in the X direction of running car is 1/2*X3, and component is in the Y direction 1/2*Y3, performs step 3;
3) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
8. the method for parking of full automaticity parking system as claimed in claim 4, it is characterized in that, when described process chip performs in-stockroom operation according to described right vertical orientations warehouse-in path, comprise the following steps: wherein X4 is automobile total travel route component in the X direction in right vertical orientations warehouse-in path, Y4 is automobile total travel route component in the Y direction in right vertical orientations warehouse-in path;
1) process chip by turn to subsystem controls tire right-hand turning to, control engine subsystems start, the horizontal throw of running car is 1/2* X4, perform step 2;
2) process chip continues through and turns to subsystem controls tire Turning travel to the right, and the arc length component met in the X direction of running car is 1/2*X4, and component is in the Y direction 1/2*Y4, performs step 3;
3) process chip travels by turning to subsystem controls tire to go back to positive dirction, until automobile sails in the middle of target parking stall, warehouse-in flow process terminates automatically.
9. the method for parking of full automaticity parking system as claimed in claim 3, it is characterized in that, when process chip detects that key of picking up the car is pressed, process chip obtains the data message of automobile complex probe sensor, and obtain corresponding outbound path in the planning module of footpath according to this data message, control engine subsystems starts, and turns to subsystem to carry out turning to according to parking path outbound.
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